JP3227710B2 - Mobile work robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile work robot which automatically performs a work, such as an automatic floor cleaner or an automatic floor finisher.

[0002]

2. Description of the Related Art In recent years, various types of mobile work robots have been developed which automatically perform work by adding a travel drive device, sensors, and travel control means to work equipment. For example, a self-propelled cleaner has a suction nozzle or a brush at the bottom of the main body as a cleaning function, a traveling and steering means as a moving function, an obstacle detecting means for detecting an obstacle during traveling, and a position recognition means for recognizing a position. The obstacle detection means moves along a wall or the like around the cleaning place, while the position recognition means recognizes the cleaning area, and moves within the cleaning area to clean the entire cleaning area. is there.

Here, the effect of carpets related to the self-propelled cleaner will be described with reference to FIG. If the floor of the work area is a carpet with a strong carpet, such as a cut pile carpet with long hairs, and the carpet is in a direction perpendicular to the straight direction,
During traveling, a phenomenon occurs in which the main body is gradually swept toward the carpet. In FIG. 14, (1) shows the movement trajectory of the main body 11 when traveling straight on a flat bare floor without carpet. In this case, since there is no carpet, the carpet is naturally not affected, and the movement trajectory of the main body 11 is a straight line a that coincides with the direction of the main body 11 at the start of traveling. However, as shown in (2), for example, if the carpet is changed to a carpet with the carpet in the left-to-right direction and the vehicle travels straight under the same conditions, the main body 11 performs straight-ahead control so as to ride on the target line b1. The actual trajectory is a straight line b inclined to the right by an angle θ from the direction of the target line b1 despite the fact that the main body 11 always faces the direction at the start of traveling. The angle deviation θ representing the degree of the lateral displacement is substantially unique to the carpet and is about several degrees.

[0004]

In the above-mentioned conventional mobile work robot having a cleaning function, the angle deviation of the lateral displacement due to the carpet is checked before the work, and the information is artificially given from the outside and is not incorporated into the control. As long as the work is left unfinished and the work efficiency is reduced. Also, this information cannot be handled when the carpet changes over time or when the carpet is replaced.

An object of the present invention is to provide a mobile work robot which can automatically detect a lateral displacement due to a carpet or the like in a device having a cleaning function. The purpose is. It is a second object of the present invention to provide a mobile work robot that can automatically detect a lateral displacement due to a carpet or the like even when reciprocating motion is repeated. It is a third object of the present invention to provide a mobile work robot capable of automatically detecting a lateral shift by a light beam. It is a fourth object of the present invention to provide a mobile work robot capable of automatically detecting a lateral displacement by detecting a relative displacement.

[0006]

First means of the present invention for achieving the Means for Solving the Problems] The first object is achieved by a direction measuring unit for measuring the drive means and steering means for moving the body, the direction of the main body, and running control means for controlling the steering means and the driving means controls travel of the body, along a wall surface of said body
And a moving distance measuring means for measuring a moving distance of the straight direction, a distance measuring means for measuring a distance to the wall surface of the body side, and a work unit for performing work such as cleaning, the travel control means The main body based on the output of the direction measuring means
A straight section for straight travel, and the moving distance measuring means
From the data of the distance measuring means, it is an mobile work robot having <br/> calculation means for calculating a lateral displacement of the body.

According to a second aspect of the present invention for achieving the second object, in addition to the configuration of the first aspect of the present invention, the traveling control means includes a main body mounted on the spot based on an output of the direction measuring means. And a mobile work robot constituted by a spin turn means for inverting the body and a straight turn means after the spin turn for moving the body straight again after the spin turn.

[0008] A third aspect of the present invention for achieving the third object, a drive means and steering means for moving the body, and direction measuring means for measuring a direction of said body, and said driving means steering and running control means for controlling the means performing driving control of the main body, a moving distance measuring means for measuring a moving distance of the straight direction of the body, towards the straight-ahead direction of the body
A light beam generator that emits a light beam , a plurality of photoreceptors that are arranged in a straight line in the lateral direction of the main body and receive a beam from the light beam generator, and a working unit that performs work such as cleaning. The control means is a light beam generator.
A straight means for traveling straight to the irradiation direction of the beam, the receiving
A light receiving and converting means for converting the received light data of the light body distance data, in which a mobile work robot having a calculating means for calculating a lateral displacement of the body from the data of the moving distance measuring means and said light receiving and converting means.

[0009] A fourth aspect of the present invention for achieving the fourth object, a drive means and steering means for moving the body, and direction measuring means for measuring a direction of said body, said drive means and steering means and running control means for controlling the preparative controls travel of the body, a moving distance measuring means for measuring a moving distance of the straight direction of the body, relative displacement detecting a lateral relative displacement with respect to the main body of the floor Detecting means, and working means for performing work such as cleaning, wherein the traveling control means
A straight section for straight running of the body based on the output of the direction measuring means, in which a mobile work robot having a calculating means for calculating a lateral displacement of the body from the data of the moving distance measuring means and the relative displacement detecting means .

[0010]

[Action] first means of the present invention is one having a cleaning function as a working unit, when traveling straight on carpet, is to act to automatically detect the lateral displacement due to carpet eyes, or the like. That is, from the information on the distance to the wall surface at the start point and the end point of the traveling section detected by the distance measuring means and the information on the moving distance in the straight traveling direction measured by the moving distance measuring means, the calculating means automatically determines the lateral displacement due to a carpet or the like. It is to detect it.

The second means of the present invention is such that the calculation of the lateral shift can be performed even when there is no wall in front of the target direction by the spin turn means and the straight-turn means after the spin turn, and the straight-moving means after the spin turn. It works.

A third means of the present invention is to provide a plurality of photoreceptors for receiving a light beam which is aligned with a straight traveling target direction,
When the main body goes straight on the carpet, among the plurality of photoreceptors, the photoreceptor to which the light beam is irradiated changes as the traveling direction of the main body shifts laterally due to the influence of the carpet eyes or the like . Horizontal not a by carpet first to detect this change
This can be calculated.

The fourth means of the present invention can calculate the lateral displacement due to the carpet without the need for a reference wall surface by the action of the relative displacement detecting means.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (Embodiment 1) Hereinafter, a first means of the present invention will be described with reference to FIGS. 1 and 2 taking a self-propelled cleaner as an example. Reference numeral 11 denotes a main body of the self-propelled cleaner, and 12L and 12R denote drive wheels provided on the left and right sides of the main body 11, respectively, which are independently driven by drive motors 13L and 13R. Reference numeral 14 denotes a follower wheel rotatably attached to the front of the main body 11. As described above, the driving wheels 12L and 12R, the driving motors 13L and 13R, and the driven wheels 14 constitute a driving unit for moving the main body 11 and a steering unit. Also 13'L
13'R is a rotation detector composed of a rotary encoder and the like connected to the drive motors 13L and 13R, respectively, and constitutes a moving distance measuring means;
The rotation speed of the 3R shaft is detected (hereinafter referred to as moving distance measuring means 13 '). Reference numeral 15 denotes two left and right movable members protruding from the main body 11 from the side portion to the front portion of the main body 11, around which a buffer 16 made of an elastic material is attached. The movable body 15 is attached to the main body 11 via a holding portion 17 and is supported rotatably. Reference numeral 18 denotes a buffer attached to the rear of the main body 11. Reference numeral 19 denotes a brush implanted around the rotating plate 20, which is rotated by a motor 21 provided on the movable body 15 in the direction parallel to the floor and inward of the main body 11, to sweep dust on the floor. . Reference numeral 22 denotes an electric blower, 23 denotes a dust collection chamber, and 24 and 25 denote filters provided therein. Reference numeral 26 denotes a floor nozzle provided at the center of the bottom of the main body 11, and is connected to the dust collection chamber 23 via a connection pipe 27. The brush 19, the motor 21, the electric blower 22, the dust collecting chamber 23, the filters 24 and 25 constitute a working means for performing a cleaning work. Reference numeral 28 denotes an operation button provided on the operation unit 29. Reference numeral 30 denotes a direction measuring means for measuring the direction of the main body 11, which in the present embodiment comprises a rate gyro and an integrator for integrating the output. 3
Reference numeral 1 denotes distance measuring means for measuring the distance to an object located in front of, on the left and right of, and behind the main body 11, and is constituted by an ultrasonic sensor provided around the main body 11. Reference numeral 32 denotes a travel control unit that controls the drive motors 13L and 13R based on data from the direction measurement unit 30 and the distance measurement unit 31, and controls the travel of the main body 11. Reference numeral 33 denotes a power supply including a storage battery or the like for supplying power to the whole.

Next, a control configuration of the embodiment will be described with reference to FIG. Information from the direction measuring means 30, the distance measuring means 31, and the moving distance measuring means 13 'is transmitted to the traveling control means 32. The traveling control means 32 judges these data and outputs a control signal to the drive motors 13L and 13R to control the moving direction and the moving distance of the main body 11. In the present embodiment, the direction measuring means 32 has a straight traveling means 40 and a calculating means 38. The rectilinear means 40 controls the drive motors 13L and 13R to drive the main body 11 rectilinearly. The calculating means 38 receives the information of the distance measuring means 31 and the moving distance measuring means 13 ', calculates the angle deviation of the lateral shift shifted under the influence of the carpet, and displays this value on the display unit 37.

The operation of this embodiment will be described below. FIG. 4 is a flowchart illustrating the control method according to the present embodiment.
When receiving the START signal from the operation button 28, the traveling control means 32 receives the distance measuring means 31 and the moving distance measuring means 13 '.
Is sent to the calculating means 38, and the straight driving means 40 instructs the drive motors 13L and 13R to drive straight. Finally, when the STOP signal is received from the operation button 28, the straight driving is stopped and the data of the moving distance measuring means 13 'is sent to the calculating means 38 again. The calculation means 38 is for START / STOP
From the data of the distance measuring means 31 and the moving distance measuring means 13 ′ at the time, the angle deviation of the lateral displacement shifted under the influence of the carpet is calculated, and the calculation result is output to the display unit 37.

Next, the operation of the calculating means 38 will be described with reference to FIG. In FIG. 5, it is assumed that the carpet faces right. At the start point S (START signal receiving point), the front of the main body 11 is assumed to be oriented in a direction parallel to the wall surface W1 indicated by the dashed arrow. At this start point S, the distance measuring means 31 measures the distance from the main body 11 to the wall surface W1 and transmits this information to the calculating means 38. Moving distance measuring means 1
3 'similarly detects the initial value at this point and transmits this information to the calculating means 38. Next, the rectilinear means 40 acts to start the rectilinear movement along the wall surface W1 with the target direction being the front direction of the main body 11 (broken arrow). In this case, the main body 1
Although the direction of 1 does not change, the movement trajectory is shifted by ΔX with respect to the target direction under the influence of the carpet. It is assumed that a STOP signal is received at this end point F. At this point F, the distance measuring means 31 moves from the main body 11 to the wall surface W1.
The distance is measured and the information is transmitted to the calculating means 38. Similarly, the moving distance measuring means 13 'detects the moving distance in the target direction from the number of rotations of the drive wheel at this point, and transmits this information to the calculating means 38. Receiving this information, the calculating means 38 calculates the displacement ΔX and the moving distance L in the lateral deviation direction, computes the angular deviation θ of the lateral deviation, and displays the result on the display unit 37.
Output to At the same time, the angle deviation θ is fed back to the direction measuring means 30. Thereafter, the rectilinear means 40 moves the main body 11 straight in a form in which the influence of the carpet is corrected based on the instruction of the direction measuring means 30.

In this embodiment, the direction of the carpet is rightward. However, the direction may be any direction. Whether the body 11 is shifted left or right or not at all is determined by ΔX (including positive and negative). Can be determined by the value of In this embodiment, the signal is obtained by the operation button 28 and the calculation result of the lateral shift is displayed on the display unit 37. However, this is not always necessary. It is easy to run straight ahead and to automatically complete all necessary work.

(Embodiment 2) The second means of the present invention will be described below with reference to FIG. Note that the overall configuration of the self-propelled vacuum cleaner of the present embodiment is the same as that of FIGS. FIG. 6 showing a control block diagram of the present embodiment is basically the same as FIG. 3 described above, and the same components are denoted by the same reference numerals and detailed description thereof will be omitted. In the present embodiment, the travel control device 32
A spin turn means 4 for inverting the main body 11 in place
1 and a post-spin-turn rectilinear means 42 for rectilinearly moving the body 11 again after the spin turn.

The operation of this embodiment will be described below. FIG. 7 is a flowchart illustrating the control method of the present embodiment. When receiving the START signal from the operation button 28, the travel control device 32 sends the data of the distance measuring means 31 and the moving distance measuring means 13 'to the calculating means 38, and activates the straight driving means 40 to drive the drive motors 13L and 13R. Then, the main body 11 is driven straight. Next, when a spin signal is received from the operation button 28,
The drive motor 13L-1 is operated by the spin turn means 41.
A spin turn command is issued to the 3R, and after that, after the spin turn, the rectilinear driving means 42 operates to command the rectilinear driving again. When the STOP signal is received from the operation button 28, the straight driving is stopped, and the data of the distance measuring means 31 and the moving distance measuring means 13 'are sent to the calculating means 38 again. The calculation means 38 is START
Calculate from the data of both means at the time of STOP
The result is output to the display unit 37.

Next, the operation of the traveling control device 32 will be described with reference to FIG. In FIG. 8, the carpet eyes are directed to the right. It is also assumed that the main body 11 is oriented in a direction parallel to the wall surface W2 at the start point S (the point where the START signal is received), as indicated by the dashed arrow. Upon receiving the START signal, the distance measuring means 31 measures the distance from the main body 11 to the wall surface W2, and transmits this information to the calculating means 38. Similarly, the moving distance measuring means 13 'detects the initial value at this point as an initial value and transmits this information to the calculating means 38.
Thereafter, the vehicle starts to go straight along the wall surface W2 with the target direction being the front direction of the main body 11 (broken arrow). In this case, the main body 1
Although the direction of 1 does not change, the movement trajectory is laterally shifted with respect to the target direction under the influence of the carpet eyes. Thus, the vehicle reaches the turning point M over the wall surface W2 via the movement path indicated by the solid line.

It is assumed that the traveling control means 32 receives a spin signal from the operation button 28 at this point M. Travel control means 3
2 receives the spin signal and receives the spin signal.
To spin the body 11 in place.
After the spin turn is performed, the rectilinear means 42 is operated again after the spin turn, and the front of the main body 11 is directed in a direction parallel to the wall surface W2 indicated by the dashed arrow (the direction opposite to the start), and this is set as the target direction. Go straight again. In this manner, the main body 11 reaches the point F via the solid arrow while causing lateral displacement under the influence of the carpet. At this point F, it is assumed that the traveling control means 32 receives a STOP signal from the operation button 28. Upon receiving the STOP signal, the traveling control means 32
Operates the distance measuring unit 31 again to move the wall surface W from the main body 11.
The distance to 2 is measured, and this information is transmitted to the calculating means 38. Similarly, the moving distance measuring means 13 'detects the moving distance at the point F and transmits this information to the calculating means 38.

The calculating means 38 calculates the displacement ΔX and (L1 + L2) in the lateral shift direction from the information, and calculates the displacement ΔX and (L1 + L2).
The angle deviation θ of the lateral shift is calculated from L2), and the result is output to the display unit 37. At the same time, the angle deviation θ is fed back to the direction measuring means 30. Thereafter, the rectilinear means 40 moves the main body 11 straight in a form in which the influence of the carpet is corrected based on the instruction of the direction measuring means 30.
Thus, according to the present embodiment, it is possible to realize a self-propelled cleaner capable of traveling straight even when the reciprocating motion is performed.

The present embodiment is naturally applicable to the case of the wall surface shown in FIG. 5, and the automatic straight running is the same as that of the first embodiment.

(Embodiment 3) Hereinafter, an embodiment of the third means of the present invention will be described with reference to FIGS.
-It will be described with reference to FIG. The description of the same parts as those in the above embodiment is omitted. In FIG. 1 and FIG.
The photoreceptors are arranged side by side on the rear surface and receive a light beam emitted from a light beam generator 35 provided separately from the main body 11. FIG. 9 is a block diagram illustrating a control configuration of the present embodiment. The description of the same parts as those described in FIG. 3 is omitted. In this embodiment, the light receiving body 34 and the light receiving body 3
4 has light receiving conversion means 39 for converting the received light data into distance data.

The operation of the self-propelled vacuum cleaner constructed as described above will be described. The flowchart illustrating the control method of the present embodiment is the same as that of FIG. 4 described in the first embodiment, and a description thereof will not be repeated. However, data from the light receiving conversion means 39 is used as the data in the lateral shift direction.

Next, the operation of the travel control device 32 will be described with reference to FIG. The light beam generator 35 provided separately from the main body 11 is set so that the light beam to be irradiated is parallel to the front direction of the main body 11 indicated by the dashed arrow.
Also, it is assumed that the carpet faces right. The travel control device 32 first detects the initial value of the moving distance measuring means 13 ′ at the start point S (START signal receiving point) and also detects the light receiving data of the light receiving body 34. The detection of the received light data is performed by detecting which of the plurality of light receiving elements constituting the light receiving body 34 receives the light beam generated by the light beam generator 35. That is, at the start point S, the element B2 receives light. When this detection is completed, the traveling control device 32 sets the target direction to the front direction of the main body 11 (broken arrow),
0 is applied to start straight traveling. At this time, the trajectory of the actual movement of the main body 11 deviates to the right under the influence of the carpet and reaches the point F via the solid arrow. It is assumed that a STOP signal is received from the operation button 28 at this point F.

Upon receiving the STOP signal, the traveling control device 32 detects again the data indicating the moving distance of the moving distance measuring means 13 'and also detects the light receiving data of the light receiving body 34. The received light data is obtained at the point F by the photoreceptor 3
4 is an element B9. When the movement of the main body 11 is completed in this way, the light receiving conversion means 39 changes the light receiving element from B2 to
The light receiving data that has been replaced with 9 is converted into distance data of ΔX. The arithmetic means 38 receiving these data sets
The moving distance L in the target direction is obtained from the number of rotations of the drive wheels measured by the moving distance measuring means 13 'from the time of START to the time of STOP, and the lateral deviation angle deviation θ is calculated from this L and the above-mentioned △ X. Then, the result is output to the display unit 37.
At the same time, the angle deviation θ is fed back to the direction measuring means 30. Thereafter, the rectilinear means 40 moves the main body 11 straight in a form in which the influence of the carpet is corrected based on the instruction of the direction measuring means 30.

Thus, according to the present embodiment, a self-propelled cleaner capable of traveling straight ahead with a configuration different from the configuration of the first embodiment of the present invention can be realized. Others are as described in the first embodiment.

(Embodiment 4) Next, an embodiment of the fourth means of the present invention will be described with reference to the drawings. The overall configuration of the self-propelled cleaner according to the present embodiment is basically the same as that described with reference to FIGS. Therefore, the description of the common parts will be omitted, and only the additional components used in the present embodiment will be described. Reference numeral 36 denotes a relative displacement detecting means that detects a pattern on the floor surface viewed from the main body 11 and can measure a relative displacement of the floor surface with respect to the main body 11 in one direction from the moving distance of the pattern. FIG. 13 is a view for explaining the configuration of the relative displacement detecting means 36, and 36a is a light beam generating means for generating a light beam on the floor surface. A one-dimensional image sensor 36b receives the light beam generated by the light beam generating means 36a. Numeral 36c denotes an analyzing means for analyzing data of the one-dimensional image sensor 36b.

The analysis of the analyzing means 36c analyzes the magnitude of the displacement at which the light receiving position of the one-dimensional image sensor 36b receives the light. It can be determined that the main body 11 has been displaced in the opposite direction with the same magnitude with respect to the displacement amount detected by the relative displacement detecting means 36. In the present embodiment, the relative displacement detecting means 36 is installed so as to detect the lateral displacement of the main body 11.

FIG. 11 is a control block diagram of this embodiment, which is basically the same as FIG. Therefore, the same components are denoted by the same reference numerals, and detailed description is omitted. In the present embodiment, the data transmitted to the travel control device 32 includes the data of the lateral displacement direction detected by the relative displacement detecting means 36.

The operation of this embodiment will be described below. The flowchart showing the control method of this embodiment is the same as that of FIG. 4 described above. However, the data in the lateral displacement direction is
Data from the relative displacement detecting means 36 is used.

Next, based on FIG.
The operation of will be described. In this case, it is also assumed that the carpet is rightward. At a point S, the traveling control device 32
It is assumed that a START signal has been received from the operation button 28.
Upon receiving the START signal, the travel control device 32 activates the relative displacement detecting means 36 and the moving distance detecting means 13 'to detect respective initial values at the starting point S. Next, the straight traveling means 40 is operated to start straight traveling in an arbitrary target direction indicated by a dashed arrow. In this case, the movement trajectory of the main body 11 deviates to the right with respect to the target direction under the influence of the carpet. Thus, at the point F, the travel control means 3
Assume that STOP 2 receives the STOP signal from the operation button 28 again. Upon receiving the STOP signal, the traveling control means 32 causes the relative displacement detecting means 36 to act again to detect the relative displacement data at this point F. At the same time, the moving distance detecting means 13 'is operated to detect data indicating the moving distance at this point F.

When the movement of the main body 11 is completed, the calculating means 38 calculates the moving distance L in the target direction from the data indicating the moving distance detected by the moving distance detecting means 13 'during the period from START to STOP. Relative displacement detecting means 36
From the data of the relative displacement detected by
Ask for. Further, the angle deviation θ of the lateral shift is calculated from the ΔX and L, and the result is output to the display unit 37. At the same time, the angle deviation θ is fed back to the direction measuring means 30.
Thereafter, the rectilinear means 40 corrects the influence of the carpet based on the direction of the direction measuring means 30 in the form of the main body 11.
To go straight.

Thus, according to this embodiment, the first and second embodiments
The configuration (1) can realize a self-propelled cleaner capable of traveling straight ahead with another configuration. Others are as described in the first embodiment.

[0037]

As described above, according to the first means of the present invention, the driving means and the steering means for moving the main body, the direction measuring means for measuring the direction of the main body, and the driving means and the steering means are included. Traveling control means for controlling and controlling traveling of the main body,
A moving distance measuring means for measuring a moving distance in a straight traveling direction along a wall surface of the main body, a distance measuring means for measuring a distance to a wall surface on a side of the main body, and a working means for performing operations such as cleaning; running control means is a linear means for straight running body on the basis of the output of the direction measuring means, by the mobile work robot having a calculating means for calculating a lateral displacement of the body from the data of the moving distance measuring means and the distance measuring means, lateral displacement Can automatically be detected as a mobile work robot.

According to the second means of the present invention, the traveling control means includes a spin turn means for inverting the main body on the spot based on the output of the direction measuring means, and a spin means for moving the main body straight after the spin turn. By adopting a configuration with straight-ahead means after the turn, the main body can be made to reciprocate straight-spin-turn and straight-ahead, and even if there is no wall in the target direction ahead, a mobile work robot that can automatically detect lateral displacement. It can be realized.

According to the third means of the present invention, a plurality of photoreceptors for receiving a beam from a light beam generator arranged in a straight line in the lateral direction of the main body and a light receiving conversion means for converting received light data into distance data are provided. By providing, even if there is no wall surface on the side of the main unit that is the reference for distance measurement in the lateral displacement direction,
A mobile work robot capable of automatically detecting a lateral displacement of the main body can be provided.

Further, according to the fourth means of the present invention, the driving means and the steering means for moving the main body, the direction measuring means for measuring the direction of the main body, and the running of the main body by controlling the driving means and the steering means and running control means for controlling, the main body straight
Moving distance measuring means for measuring the moving distance in the advancing direction , relative displacement detecting means for detecting a relative displacement of the floor surface in the lateral direction with respect to the main body, and working means for performing operations such as cleaning,
The traveling control means is based on the output of the direction measuring means.
And straight means for straight running, a structure having a calculating means for calculating a lateral displacement of the body from the data of the moving distance measuring means and the relative displacement detecting means, even if there is no wall surface of the main body side as a reference of the lateral displacement direction of the distance measuring Further, it is possible to realize a mobile work robot capable of automatically detecting a lateral displacement due to a carpet without installing a device (light beam generating device) other than the main body.

In each of the embodiments, a self-propelled cleaner has been mainly described, but it goes without saying that work other than cleaning can be automatically performed by the mobile work robot.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view of a mobile work robot which is an embodiment of first, second, third and fourth means of the present invention.

FIG. 2 is a cross-sectional view of the mobile work robot.

FIG. 3 is a control block diagram of a mobile work robot which is an embodiment of the first means of the present invention.

FIG. 4 is a flowchart showing a control method of a mobile work robot in an embodiment of the first means, the third means, and the fourth means of the present invention.

FIG. 5 is an explanatory diagram of an operation of the mobile work robot in the embodiment of the first means of the present invention.

FIG. 6 is a control block diagram of a mobile work robot in an embodiment of the second means of the present invention.

FIG. 7 is a flowchart showing a control method of the travel control device of the mobile work robot.

FIG. 8 is an explanatory diagram for explaining the operation of the travel control device of the mobile work robot.

FIG. 9 is a control block diagram of a mobile work robot in an embodiment of the third means of the present invention.

FIG. 10 is an explanatory diagram for explaining the operation of the traveling control device of the mobile work robot.

FIG. 11 is a control block diagram of a mobile work robot in an embodiment of the fourth means of the present invention.

FIG. 12 is an explanatory diagram for explaining the operation of the travel control device of the mobile work robot.

FIG. 13 is a block diagram illustrating a configuration of the relative displacement detection unit.

14 (1) is an explanatory view when a conventional mobile work robot travels straight on a bare floor; and (2) is an explanatory view when it travels straight on the same carpet.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Main body 12 Drive wheel 13 Drive motor 13 'Moving distance detecting means 14 Follower wheel 30 Direction measuring means 31 Distance measuring means 32 Travel control means 34 Light receiving body 35 Light beam generating device 36 Relative displacement detecting means 38 Computing means 39 Light receiving converting means 40 Straight ahead Means 41 Spin turn means 42 Straight ahead means after spin turn

──────────────────────────────────────────────────の Continuing on the front page (72) Osamu Eguchi, Inventor 1006 Kazuma, Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. (72) Inventor Hirofumi Inui 1006, Kadoma, Kazuma, Kadoma, Osaka Matsushita Electric Industrial Co., Ltd. (56) References JP-A-1-207805 (JP, A) JP-A-60-112113 (JP, A) JP-A-61-105617 (JP, A) JP-A-2-241422 (JP, A) JP-A-4-264902 (JP, A) JP-A-63-104111 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05D 1/02

Claims (4)

(57) [Claims] [1 claim: a drive means and steering means for moving the body, and direction measuring means for measuring the direction of the main body, and a traveling control means for controlling the steering means and the driving means controls travel of the body, In the straight direction along the wall of the body
A moving distance measuring means for measuring a moving distance of a distance measuring means for measuring a distance to the wall surface of the body side, and a work unit for performing work such as cleaning, the running control means is the <br / > a straight section for straight running of the body based on the output of the direction measuring means, from the data of the distance measuring means and the moving distance measuring means, the mobile work robot having a calculating means for calculating a lateral displacement of the body. 2. The vehicle according to claim 1, wherein the traveling control means includes a spin turn means for inverting the main body in place based on an output of the direction measuring means, and a rectilinear means after the spin turn for causing the main body to go straight after the spin turn. Mobile work robot. A drive means and steering means wherein moving the body, and direction measuring means for measuring the direction of the main body, and a traveling control means for controlling the steering means and the driving means controls travel of the body, a moving distance measuring means for measuring a moving distance of the straight direction of the body, towards the straight-ahead direction of the body
A light beam generator that emits a light beam , a plurality of photoreceptors that are arranged in a straight line in the lateral direction of the main body and receive a beam from the light beam generator, and a working unit that performs work such as cleaning. The control means is a light beam generator.
A straight means for traveling straight to the irradiation direction of the beam, the receiving
Mobile work robot having a light receiving and converting means for converting the received light data of the light body on the distance data, the calculation means for calculating a lateral displacement of the body from the data of the moving distance measuring means and said light receiving and converting means. A drive means and steering means wherein moving the body, and direction measuring means for measuring the direction of the main body, and a traveling control means for controlling the steering means and the driving means controls travel of the body, comprising a moving distance measuring means for measuring a moving distance of the straight direction of the body, the relative displacement detecting means for detecting a lateral relative displacement with respect to the main body of the floor, and a working unit for performing operations such as cleaning, the running control means is the mobile work robot having a calculating means for calculating a linear means for traveling straight, the lateral displacement of the body from the data of the moving distance measuring means and the relative displacement detecting means said body based on the output of the direction measuring means .